JP2006337269A - Testing device for vehicle-traveling characteristics - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To simulate for lateral motion of vehicle motion during steering a handle by rotating a flat belt device around a tire grounding point, corresponding to the velocity of a flat belt and the lateral moving speed of the flat belt device to make the slip angle of each wheel agree with the slip angle during steering the handle. <P>SOLUTION: A wobbling device is excited in the vertical direction (100) as needed, while driving the endless flat belt of the flat belt device at a velocity V<SB>x</SB>. In this state, when the handle is steered, a car body is moved in the lateral direction of a vehicle. Accordingly, the quantity of displacement in the lateral direction of a car body detected by sensors is fetched (102). Based on the detected values by the sensors, the lateral moving speed V<SB>ys</SB>of the vehicle is calculated, while the components of the flat belt device are moved in the lateral direction of the vehicle in the lateral moving speed V<SB>ys</SB>, respectively, by controlling the wobbling device, the flat belt device is made to rotate about the tire grounding point at a rotation angle of Ψ<SB>s</SB>(106). <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle running characteristic test apparatus, and in particular, a vehicle running characteristic test apparatus capable of performing vertical vibration of each wheel of a test vehicle and simulating vehicle motion during steering such as a lane change. About.

2. Description of the Related Art Conventionally, a vehicle running characteristic test apparatus that performs a test by placing four wheels of a vehicle on an independent flat belt device is known (Patent Document 1). This test apparatus can test the running characteristics of a vehicle by simulating the influence of road disturbance on the vehicle motion during straight running by performing vertical vibration independently for the four wheels.
JP-A-9-105707

  However, the conventional test apparatus has a problem that the flat belt apparatus cannot be moved in the lateral direction of the vehicle body, so that it cannot simulate the lateral movement such as the vehicle movement at the time of steering the steering wheel.

  This problem can be solved by making it possible to move the flat belt device provided in the oscillating device for exciting in the lateral direction of the vehicle body, but simply moving the flat belt device in the lateral direction of the vehicle body. As a result, the slip angle of each tire changes, and the tire generating force during actual traveling cannot be simulated, resulting in a problem that the lateral vehicle motion cannot be simulated.

  The present invention makes the slip angle of each wheel coincide with that during actual running by rotating the flat belt device around the tire contact point according to the speed of the endless flat belt and the lateral movement speed of the flat belt device. An object of the present invention is to provide a vehicle characteristic test apparatus that can also simulate lateral movement such as vehicle movement during steering of a steering wheel.

  To achieve the above object, the present invention provides a plurality of flat belt devices each including a plurality of rollers and an endless flat belt wound around the rollers, and each of the flat belt devices is vibrated in the vertical direction. A plurality of oscillating devices that are provided corresponding to each of the flat belt devices, rotate the flat belt device around a tire contact point, and move the flat belt device in a lateral direction of the vehicle body; and According to the rotational speed of the endless flat belt and the moving speed of the flat belt device in the lateral direction of the vehicle body, the flat belt device rotates around the tire ground contact point at an angle that does not change the tire slip angle. And a control device for controlling.

The control device according to the present invention is configured so that the rotation speed of the endless flat belt is V _x and the movement speed of the flat belt device in the lateral direction of the vehicle body is V _{ys. The} swing device can be controlled to rotate at _s .

In the present invention, a detecting means for detecting the moving speed in the lateral direction of the vehicle body of the test vehicle is provided, and the lateral speed of the flat belt device as the moving speed _{Vys in the} lateral direction of the vehicle body of the test vehicle detected by the detecting means. The same value as the moving speed in the direction can be given.

  According to the present invention, the flat belt device is controlled to rotate around the tire contact point so that the tire slip angle does not change according to the rotational speed of the endless flat belt and the moving speed of the flat belt device in the lateral direction of the vehicle body. Therefore, even when the steering wheel is steered, the tire slip angle is controlled so as not to change, so that the vehicle characteristics when the steering wheel is steered can be tested.

  As described above, according to the present invention, the vehicle characteristics when steering the steering wheel without depending on the characteristics of the vehicle to be tested without measuring or estimating the slip angle of each wheel at the present time. The effect that it can test is acquired.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, the vehicle characteristic test apparatus of the present embodiment is provided with a plurality of vibration devices arranged so that the tires of the test vehicle 10 are placed thereon. Each vibration device is composed of a flat belt device 12 and a rocking device 18. The flat belt device 12 includes a plurality of rollers 14 each having a driving roller and a driven roller, and an endless flat belt 16 that forms a substitute road surface wound around these rollers. The pantograph type multi-stage link is provided corresponding to each of the flat belt devices 12 so as to vibrate the flat belt device 12 in the vertical direction.

  The driving roller of the flat belt device 12 is connected to a driving device (not shown) that rotationally drives the endless flat belt in the direction opposite to the tire traveling direction. Each of the swinging devices 18 is provided with a drive device (not shown) that rotates the flat belt device 12 around the tire ground contact point and moves the flat belt device 12 in the lateral direction of the vehicle body.

  Each of the driving device of the flat belt device 12 and the driving device of the rocking device 18 is connected to a control device 20 constituted by a computer.

  In addition, the vehicle characteristic test apparatus according to the present embodiment is provided with a sensor 22 that detects a lateral displacement amount of the test vehicle during steering of the handle of the test vehicle. The sensor 22 includes a non-contact optical sensor including a light emitting element and a light receiving element and a contact sensor including a contact, and is configured to detect a displacement amount at a corner portion in front of the test vehicle. ing. By calculating the amount of change per unit time of the displacement detected by the sensor 22, the moving speed in the lateral direction of the test vehicle during steering of the steering wheel can be obtained.

  According to the vehicle characteristic test apparatus of the present embodiment, since the endless flat belt 16 forms a substitute road surface, each of the test vehicles 10 is placed on the endless flat belt 16 provided at the top of the four vibration generators. The tire is placed, the swinging device is driven to vibrate the endless flat belt 16 in the vertical direction, and the endless flat belt 16 is rotated by the wheel while rotating the tire of the test vehicle 10 at a normal rotation speed. It is possible to test the driving characteristics of the vehicle under substantially the same conditions as on an actual road by rotating the wheel in the opposite direction at the same rotation speed as that of the wheel and further steering the steering wheel to change the direction of the wheel. It becomes possible.

  Next, the case of simulating vehicle motion during steering of a steering wheel such as a lane change will be described in more detail.

When the tire slip angle is α, the tire lateral acceleration V _y is expressed as follows.

V _y = V _x tan α (1)
At this time, as shown in FIG. 2, the swinging device is controlled to move the flat belt device 16 in the lateral direction of the vehicle body at the lateral movement speed (lateral movement speed) _Vys , and the rotation angle around the tire contact point. When the yaw rotation is performed at Ψ _s , the tire lateral speed VY is expressed as follows.

_{VY = V y -V ys + V} x tanΨ s ··· (2)
Therefore, in order not to change the tire slip angle when the flat belt device moves in the lateral direction, it is necessary to move the flat belt device so as to always satisfy the relationship of the following expression (3).

V _ys = V _x tan Ψ _s (3)
That is, by setting the rotation angle ψ _{s according} to the following equation (4) according to the lateral movement speed V _ys of the flat belt device and rotating the flat belt device around the tire contact point at the rotation angle ψ _s. In addition, the slip angle can always be kept at the value during running.

Therefore, when simulating vehicle motion during steering of a steering wheel such as a lane change, the control device 20 performs control as follows. At step 100, controls the driving unit to drive the endless flat belt of the flat belt 12 at a velocity V _x, and controls the rocking unit as needed to vibrate the flat-belt apparatus in the vertical direction. When the hand is steered in this state, the test vehicle moves in the lateral direction of the vehicle in accordance with the steering, so that the lateral displacement of the vehicle body is detected by the sensor 22. In step 102, the detection value of the sensor 22 is taken in, and in step 104, the lateral movement speed _Vys of the vehicle is calculated based on the detection value of the sensor 22. Then, in step 106, the swinging device is controlled to move each of the flat belt devices in the lateral direction of the vehicle at the lateral movement speed V _ys , and each of the flat belt devices is rotated at the rotation angle Ψ _s around the tire contact point. Rotate with

  As a result, the flat belt device is rotated around the tire contact point according to the rotational speed of the endless flat belt and the lateral movement speed of the flat belt device, and the tire slip angle does not change during steering of the steering wheel. A test can be performed.

  Here, the lateral movement speed of the oscillating device is made substantially coincident with the lateral movement speed of the vehicle, but it is also possible to make a change within a range in which the wheels do not come off the flat belt. For example, by starting the lateral movement of the swinging device slightly after the start of the lateral movement of the vehicle, without affecting the self-alignment torque that is the moment around the tire ground contact point during the minute steering of the steering wheel start, A test can be performed.

It is the schematic which shows embodiment of this invention. It is explanatory drawing explaining the rotational speed of an endless flat belt, the rotation angle of a flat belt apparatus, and the moving speed of the horizontal direction of a flat belt apparatus. It is a flowchart which shows the routine for testing the vehicle motion at the time of steerings, such as a lane change.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Test vehicle 12 Flat belt apparatus 14 Roller 16 Endless flat belt 18 Swing apparatus 20 Control apparatus 22 Sensor

Claims (2)

A plurality of flat belt devices comprising a plurality of rollers and an endless flat belt wound around the rollers;
Each of the flat belt devices is provided corresponding to each of the flat belt devices so as to vibrate in the vertical direction, the flat belt device is rotated around a tire contact point, and the flat belt device is mounted on the vehicle body. A plurality of rocking devices for lateral movement;
The swinging device is configured so that the flat belt device rotates at an angle that does not change a tire slip angle around a tire contact point according to a rotational speed of the endless flat belt and a moving speed of the flat belt device in a lateral direction of a vehicle body. A control device for controlling
A vehicle running characteristic test apparatus including: When the rotational speed of the endless flat belt is V _x and the moving speed of the flat belt device in the lateral direction of the vehicle body is V _ys , the control device is configured such that the flat belt device is at an angle Ψ _s represented by the following equation: The vehicle running characteristic test device according to claim 1, wherein the swinging device is controlled to rotate.

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